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Compute forward kinematics for a batch of UR5e joint configurations using PyRoKi.

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Parameters

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batch_joint_states
np.ndarray | List[List[float]]
required
Batch of joint configurations of shape (N, 7). Can also be a path to a .npy file.
​
timeout
float | None
Optional HTTP timeout.

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Returns

dict with keys:
  • output — Array of end-effector poses (N, 7) in wxyz_xyz format (quaternion wxyz + position xyz)
  • latency_ms — Processing time in milliseconds

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Example

from grid_cortex_client import CortexClient
import numpy as np

client = CortexClient()
batch_joint_states = np.random.uniform(-1.0, 1.0, size=(20, 7)).astype(np.float32)
result = client.run(
    model_id="ur5e-pyroki-fk",
    batch_joint_states=batch_joint_states,
)
poses = result["output"]
print(poses.shape)  # (20, 7) — wxyz quaternion + xyz position